Systems and methods for acquiring and moving objects having complex outer surfaces

ABSTRACT

In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.

PRIORITY

The present application is a continuation of U.S. patent applicationSer. No. 16/052,111, filed Aug. 1, 2018, which claims priority to U.S.Provisional Patent Application Ser. No. 62/540,355 filed Aug. 2, 2017,the disclosures of which are hereby incorporated by reference in theirentireties.

BACKGROUND

The invention generally relates to programmable motion systems andrelates in particular to end effectors for programmable motion devices(e.g., robotic systems) for use in object processing such as objectsortation or order fulfillment.

End effectors for robotic systems, for example, may be employed incertain applications to select and grasp an object, and then move theacquired object very quickly to a new location. End effectors that aredesigned to very securely grasp an object during movement may havelimitations regarding how quickly and easily they may select and graspan object from a jumble of dissimilar objects. Conversely, end effectorsthat may quickly and easily grasp a selected object from a jumble ofobjects (either similar or dissimilar objects) may have limitationsregarding how securely they may grasp an acquired object during rapidmovement, particularly rapid acceleration and deceleration (both angularand linear).

Many end effectors employ vacuum pressure for acquiring and securingobjects for transport or subsequent operations by articulated arms.Other techniques for acquiring and securing objects employ electrostaticattraction, magnetic attraction, needles for penetrating objects such asfabrics, fingers that squeeze an object, hooks that engage and lift aprotruding feature of an object, and collets that expand in an openingof an object, among other techniques. Typically, end effectors aredesigned as a single tool, such as for example, a gripper, a welder, ora paint spray head, and the tool is typically designed for a specificset of needs.

While many objects may include outer surfaces that are easily grasped bytraditional end effectors, certain objects present difficulties fortraditional end effectors. In shipping distribution systems, forexample, many objects to be processed are provided as bags, e.g.,polyethylene bags, that contain the item to be shipped. The bags presentan outer surface that is soft and flexible, and that moves during agrasp attempt, which presents unique challenges to grasp planningsystems.

There remains a need therefore, for an end effector in a programmablemotion system that may select and grasp an object, and then move theacquired object very quickly to a new location, and further a need foran end effector that may consistently and reliably grasp objects thatinclude unpredictable outer surfaces such as polyethylene bags.

SUMMARY

In accordance with an embodiment the invention provides an end effectorfor use with a programmable motion device. The end effector includes apair of mutually opposing surfaces, at least one of the pair of mutuallyopposing surfaces being movable with respect to an end effector supportstructure for supporting the at least one of the pair of mutuallyopposing surfaces.

In accordance with another embodiment the invention provides an endeffector for use with a programmable motion device. The end effectorincludes a pair of mutually opposing surfaces, at least one of the pairof mutually opposing surfaces being movable with respect to another ofthe pair of mutually opposing surfaces

In accordance with a further embodiment the invention provides a methodof grasping an object using an end effector of a programmable motiondevice. The method includes the steps of engaging the object with a pairof mutually opposing surfaces, and moving at least one of the pair ofmutually opposing surfaces with respect to an end effector supportstructure for supporting the at least one of the pair of mutuallyopposing surfaces.

In accordance with yet a further embodiment the invention provides amethod of grasping an object using an end effector of a programmablemotion device. The method includes the steps of engaging the object witha pair of mutually opposing surfaces, and moving at least one of thepair of mutually opposing surfaces with respect to another of the pairof mutually opposing surfaces.

BRIEF DESCRIPTION OF THE DRAWINGS

The following description may be further understood with reference tothe accompanying drawings in which:

FIG. 1 shows an illustrative diagrammatic view of a programmable motionsystem with an end effector in accordance with an embodiment of thepresent invention;

FIG. 2 shows an illustrative diagrammatic view of the end effector ofFIG. 1;

FIG. 3 shows an illustrative diagrammatic front view of end effector ofFIG. 2;

FIG. 4 shows an illustrative diagrammatic side view of the end effectorof FIG. 2;

FIG. 5 shows an illustrative diagrammatic rear view of the end effectorof FIG. 2;

FIG. 6 shows an illustrative diagrammatic front view of the end effectorof FIG. 2 contacting an object;

FIG. 7 shows an illustrative diagrammatic front view of the end effectorof FIG. 6 engaging the object;

FIG. 8 shows an illustrative diagrammatic view of an end effector inaccordance with another embodiment of the present invention;

FIG. 9 shows an illustrative diagrammatic side view of the end effectorof FIG. 8;

FIG. 10 shows an illustrative diagrammatic side view of the end effectorof FIG. 8 beginning to engage an object;

FIG. 11 shows an illustrative diagrammatic side view of the end effectorof FIG. 10 fully engaging an object;

FIG. 12 shows an illustrative diagrammatic view of an end effector inaccordance with another embodiment of the present invention;

FIG. 13 shows an illustrative diagrammatic side view of the end effectorof FIG. 12;

FIG. 14 shows an illustrative diagrammatic side view of the end effectorof FIG. 10 beginning to engage an object;

FIG. 15 shows an illustrative diagrammatic side view of the end effectorof FIG. 10 fully engaging an object;

FIG. 16A-16C show illustrative diagrammatic bottom views of an endeffector in accordance with further embodiments of the present inventionwhere the rollers are variable spaced from one another;

FIG. 17 shows an illustrative diagrammatic bottom view of an endeffector in accordance with another embodiment of the inventionincluding variable diameter rollers that provide variable sizedopenings;

FIG. 18 shows an illustrative diagrammatic bottom view of an endeffector in accordance with another embodiment of the inventionincluding variable diameter rollers that are uniformly spaced from oneanother;

FIG. 19 shows an illustrative diagrammatic bottom view of an endeffector in accordance with another embodiment of the inventionincluding variable diameter rollers that are interleaved;

FIG. 20 shows an illustrative diagrammatic bottom view of an endeffector in accordance with another embodiment of the inventionincluding variable diameter rollers that provide a variable sizedopening that is largest in the middle;

FIG. 21 shows an illustrative diagrammatic bottom view of an endeffector in accordance with another embodiment of the inventionincluding variable diameter rollers that provide a variable sizedopening that is largest at the ends;

FIGS. 22A and 22B show illustrative diagrammatic front views of an endeffector employing cam rollers in an open position (FIG. 22A) and aclosed position (FIG. 22B);

FIGS. 23A and 23B show illustrative diagrammatic front views of an endeffector employing axially offset rollers in an open position (FIG. 23A)and a closed position (FIG. 23B);

FIGS. 24A and 24B show illustrative diagrammatic front views of an endeffector employing expandable rollers in an open position (FIG. 24A) anda closed position (FIG. 24B);

FIG. 25 shows an illustrative diagrammatic view of an end effector inaccordance with an embodiment that includes rollers with attractionfeatures;

FIG. 26 shows an illustrative diagrammatic side elevation view of aroller of FIG. 25, where the attraction features include nubs;

FIG. 27 shows an illustrative diagrammatic top view of the roller ofFIG. 26;

FIG. 28 shows an illustrative diagrammatic elevation view of a roller ofFIG. 25, where the attraction features include suction cups;

FIG. 29 shows an illustrative diagrammatic top view of the roller ofFIG. 28;

FIG. 30 shows an illustrative diagrammatic elevation view of a roller ofFIG. 25, where the attraction features include vacuum ports;

FIG. 31 shows an illustrative diagrammatic top view of the roller ofFIG. 30;

FIG. 32 shows an illustrative diagrammatic view of an end effector inaccordance with another embodiment of the present invention thatincludes rollers with an applied static charge;

FIG. 33 shows an illustrative diagrammatic view of an end effector inaccordance with another embodiment of the present invention thatincludes rollers with a material that is chemically attracted topolyurethane;

FIG. 34 shows an illustrative diagrammatic view of a programmable motionsystem with an end effector in accordance with another embodiment of thepresent invention that includes a set of rollers mounted in a frame;

FIG. 35 shows an illustrative diagrammatic view of the end effector ofFIG. 34;

FIG. 36 shows an illustrative diagrammatic view of the end effector ofFIG. 35 with the articulated arm removed for clarity;

FIG. 37 shows an illustrative diagrammatic view of the end effector ofFIG. 36 contacting an object;

FIG. 38 shows an illustrative diagrammatic view of the end effector ofFIG. 37 beginning to engage the object;

FIG. 39 shows an illustrative diagrammatic view of the end effector ofFIG. 37 fully engaging the object;

FIG. 40 shows an illustrative diagrammatic view of an end effector inaccordance with another embodiment of the present invention where bothrollers are linearly actuatable;

FIG. 41 shows an illustrative diagrammatic view of an end effector inaccordance with another embodiment of the present invention where bothrollers are offset from an underside of the support frame;

FIG. 42 shows an illustrative diagrammatic bottom view of the endeffector of FIG. 41;

FIG. 43 shows an illustrative diagrammatic view of an end effectorsimilar to that shown in FIG. 41 that includes spring biasing elements;

FIG. 44 shows an illustrative diagrammatic bottom view of the endeffector of FIG. 43;

FIGS. 45A and 45B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes rollers on independent frames in the open position (shownin FIG. 45A) and the closed position (FIG. 45B);

FIG. 46 shows an illustrative diagrammatic view of a programmable motionsystem with two opposing end effectors in accordance with anotherembodiment of the present invention;

FIG. 47 shows an illustrative diagrammatic view of a programmable motionsystem with two adjacent end effectors in accordance with anotherembodiment of the present invention;

FIGS. 48A and 48B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes rollers on multi-axis shafts in the open position (FIG.48A) and in the closed position (FIG. 48B);

FIGS. 49A and 49B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes rollers or spheres that are linearly movable toward andaway from each other in the open position (FIG. 49A) and in the closedposition (FIG. 49B);

FIGS. 50A and 50B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes rollers or spheres that are rotatably movable toward andaway from each other in the open position (FIG. 50A) and in the closedposition (FIG. 50B);

FIGS. 51A and 51B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes rollers or spheres that are directly linearly movabletoward and away from each other in the open position (FIG. 51A) and inthe closed position (FIG. 51B);

FIGS. 52A, 52B, and 52C show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes a pair of belts in the open position (FIG. 52A), and mayinclude comb-like fingers that can spread apart, e.g., for grasping anobject (FIG. 52B and FIG. 52C);

FIGS. 53A and 53B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes a pair of grippers on linkages in the open position (FIG.53A) and in the closed position (FIG. 53B);

FIGS. 54A and 54B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes a pair of racks that engage pinion gears in the openposition (FIG. 54A) and in the closed position (FIG. 54B);

FIGS. 55A and 55B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes pinion gears and a tensioning mechanism in the openposition (FIG. 55A) and in the closed position (FIG. 55B); and

FIGS. 56A and 56B show illustrative diagrammatic views of an endeffector in accordance with another embodiment of the present inventionthat includes pinion gears and a dual tensioning mechanism in the openposition (FIG. 56A) and in the closed position (FIG. 56B).

The drawings are shown for illustrative purposes only and are notnecessarily to scale.

DETAILED DESCRIPTION

In accordance with various embodiments, systems of the invention mayvary in shape, size, dimensions, weight, proportions, and design toaccommodate different applications and/or to be tailored to variousdesign constraints such as size, weight and fabrication materials.

In accordance with an embodiment, the invention provides an end effectorfor use with a programmable motion device. The end effector includes apair of mutually opposing surfaces, at least one of the pair of mutuallyopposing surfaces being movable with respect to an end effector supportstructure for supporting the at least one of the pair of mutuallyopposing surfaces. In accordance with another embodiment, the at leastone of the pair of mutually opposing surfaces is actuatable to roll withrespect to the other of the mutually opposing surfaces. In a furtherembodiment, the at least one of the pair of mutually opposing surfacesis actuatable to move toward or away from the other of the pair ofmutually opposing surfaces, and in further embodiments, the movement maybe caused by linear movement or angular movement, and in furtherembodiments, the surfaces may be provided by a pair of rollers, a pairof spheres or a pair of belts.

FIG. 1, for example, shows a programmable motion device 10 (e.g., anarticulated arm or a robotic system), that includes an end effector 12attached to an end effector coupling unit 18, as well as a base 14 and acontroller 16 that may be connected to the programmable motion device bywireless or wired communication. In certain embodiments for example, thecontroller 16 may be located within the base section 14. Theprogrammable motion device may be employed for the processing ofobjects, such as for example, for sorting objects or for packagingobjects into shipment packages. The programmable motion device mayfurther be in communication with an order shipment fulfillment facilityin which orders are parsed, items are collected, and items are preparedfor shipment.

The end effector 12 is further shown in FIG. 2, where the end effector12 is shown attached to the section 18 by way of support structure 20that attaches to the section 18 and supports a pair of rollers 22, 24.Each of the rollers 22, 24 is mounted on one of two axes, as shown inFIG. 3 (which shows a front view of the end effector 12 attached to thesection 18), the rollers 22, 24 are adjacent one another, and are eachpowered by a motor. The rollers 22, 24 may be formed, for example, ofpolyurethane.

FIG. 4 shows a side view of the end effector of FIG. 3, also showing amotor 26 for actuating the roller 24 to roll in either direction. Theroller actuation may be provided to each roller, and may bebi-directional. In particular, the roller 22 may be provided with asimilar motor 28 for causing the roller 22 to be rotated in eitherdirection as shown in FIG. 5. The motors 26, 28 may be controlled byeither wireless or wired communication. In certain embodiments, themotors may be actuated together, or may be moved in dependent of eachother. In further embodiments, one motor may be used to actuate only oneof the rollers, or one motor may be used to actuate both motors througha gearing linkage.

As shown in FIG. 6, the rollers 22, 24 of the end effector 12 may engagean object 30 (such as a polyethylene shipping bag) having an irregularand pliant surface 32. With reference to FIG. 7, when one or more of therollers 22, 24 is/are actuated to roll as shown, a portion 34 of the bagis drawn up between the rollers. The object 30 may then be moved to adifferent location by the end effector, whereupon the one or morerollers 22, 24 may be rolled in the opposite direction to release theobject 30.

FIGS. 8 and 9 show an end effector 40 in accordance with anotherembodiment of the present invention that includes support structure 42for attachment to a section 48 of a programmable motion device, as wellas rollers 44 and 46 (again, for example made of polyurethane). The endeffector 40 also includes a vacuum line 50 that provides vacuum toportions 52 of the rollers 44, 46 that include areas of reduced radii ofthe rollers 44, 46. In particular, the vacuum is provided between therollers 44, 46 to facilitate the grasping of an object. FIGS. 10 and 11,for example, show the end effector 40 engaging an object 56 (shown inFIG. 10), and then actuating one or more motors 54 (similar to motors22, 24) to grasp the object 56 by drawing a portion 58 of the outersurface of the object between the rollers 44, 46 (shown in FIG. 11).

FIGS. 12 and 13 show an end effector 41 in accordance with a furtherembodiment of the present invention that includes support structure 42for attachment to a section 48 of a programmable motion device, as wellas rollers 44 and 46 (again, for example made of polyurethane). The endeffector 41 also includes a vacuum line 51 that provide a wider area ofvacuum to the rollers 44, 46, including areas of reduced radii of therollers 44, 46. In particular, the vacuum is provided between therollers 44, 46 to facilitate the grasping of an object. FIGS. 14 and 15show the end effector 41 engaging an object 56 (shown in FIG. 14), andthen actuating one or more motors 54 (similar to motors 22, 24) to graspthe object 56 by drawing a portion 58 of the outer surface of the objectbetween the rollers 44, 46 (shown in FIG. 15).

FIGS. 16A, 16B, and 16C show end effector portions in accordance withfurther embodiments of the invention that provide different distancesbetween the rollers (again, for example made of polyurethane). Forexample, FIG. 16A shows an end effector 60 that includes supportstructure 62 as well as motors 64 for actuating rollers 66, 68. Therollers 66, 68 are provided with little or no space between the sides ofthe rollers. FIG. 16B shows an end effector 70 that includes supportstructure 72 as well as motors 74 for actuating rollers 76, 78. Therollers 76, 78 are provided with a small distance d₁ (e.g., 2 mm to 5mm) between the sides of the rollers. FIG. 16C shows an end effector 80that includes support structure 82 as well as motors 84 for actuatingrollers 86, 88. The rollers 86, 88 are provided with a small distance d₂(e.g., 0.65 cm to 2 cm) between the sides of the rollers.

FIGS. 17-19 show embodiments of end effectors that include rollershaving stepped bi-radius rollers (again, for example made ofpolyurethane). In particular, FIG. 17 shows an end effector 90 thatincludes support structure 92 as well as motors 94 for actuating rollers96, 98. The rollers 96, 98 are provided with radially recessed sections100, 102 for providing stepped bi-radius rollers wherein the recessedportions of the rollers align with one another. During use, either thearea 101 between the recessed portions or the small area between theouter radius portions of the rollers may be used to engage an objectsuch as a bag.

FIG. 18 shows an end effector 110 that includes support structure 112 aswell as motors 114 for actuating rollers 116, 118. The rollers 116, 118are provided with radially recessed sections 120, 122 for providingstepped bi-radius rollers wherein the recessed portions of the rollersdo not align with one another. During use, the stepped area 124 betweenthe rollers may be used to engage an object such as a bag.

FIG. 19 shows an end effector 130 that includes support structure 132 aswell as motors 134 for actuating rollers 136, 138. The rollers 136, 138are provided with radially recessed sections 140, 142 for providingstepped bi-radius rollers wherein the recessed portions of the rollersdo not align with one another. During use, the stepped area 144 areabetween the rollers may be used to engage an object such as a bag. Thestepped area 144 is smaller than that of the area 124 of FIG. 18 becausethe stepped regions of the rollers 136, 138 fit within one another asshown.

FIG. 20 shows an end effector 150 that includes support structure 152 aswell as motors 154 for actuating rollers 156, 158 (again, for examplemade of polyurethane). The rollers 156, 158 are provided with radiallyrecessed sections 160, 162 for providing a continuous area between therollers that is largest at the center of the rollers as shown. Duringuse, the area between the recessed portions 160, 162 may be used toengage an object such as a bag.

FIG. 21 shows an end effector 170 that includes support structure 172 aswell as motors 174 for actuating rollers 176, 178 (again, for examplemade of polyurethane). The rollers 176, 178 are provided with radiallyrecessed sections 180, 182 for providing a continuous area between therollers that is smallest at the center of the rollers as shown. Duringuse, the area between the recessed portions 180, 182 may be used toengage an object such as a bag. The embodiments of FIGS. 20 and 21provide that portions of the rollers that have a variety of distancesbetween the rollers, are provided to contact the object. The facilitatesthe grasping of objects wherein specific distances of a gap are bettersuited for engaging the outer surface of the object, due in part, to thethickness of the outer (bag) surface as well as the stiffness of theouter (bag) surface.

FIGS. 22A and 22B show end views of a pair of rollers 190, 192 (again,for example made of polyurethane) that each include a cam portion 194,196 such that as each roller rotates, the cam portions 194, 196 areurged toward each other as shown in FIG. 22B. The use of the camportions takes advantage of the fact that the rollers may need to berotated only over a limited rotational range.

FIGS. 23A and 23B show end views of a pair of rollers 200, 202 (again,for example made of polyurethane) that are provided on axles 204, 206that are not central to each roller. This provides that as each rollerrotates, larger radius portions 208, 210 of the rollers 200, 202 areurged toward each other as shown in FIG. 23B. Again, the use of thelarger radius portions also takes advantage of the fact that the rollersmay need to be rotated only over a limited rotational range.

FIGS. 24A and 24B show end views of a pair of rollers 220, 222 (forexample made of a flexible rubber material) that are provided on axles224, 226 that are central to each roller. The rollers are formed ofinflatable material, and may be inflated or deflated to change theradius (diameter of each of the rollers). This provides that as eachroller rotates, its radius may be increased such that the rollers 220,222 are urged toward each other as shown in FIG. 24B. The rollers 220,222 may be inflated/deflated by actuation of valves that are couplednear the motors, and the rollers may be actuatable over a limitedrotational range. The grasping and releasing of an object may beprovided by any combination of rotation and inflation/deflation of therollers.

FIG. 25 shows a pair of rollers 230, 232 (again, for example made ofpolyurethane) for use in an end effector of an embodiment that includegrasp features 234 on the outer surface of the rollers 230, 232. Withreference to FIGS. 26 and 27, the grasp features may be raised relieffeatures 236 on the roller. With reference to FIGS. 28 and 29, the graspfeatures may be small cone—shaped protrusions 238 that provide a mildsuction feature. With reference to FIGS. 30 and 31, the grasp featuresmay include openings 240 that lead to one or more conduits 242 in thematerial of the roller through which a vacuum may be provided to theopenings 240. During use, the grasp features (e.g., 236, 238, 240) mayfacilitate the rollers in drawing a portion of a bag up between therollers.

FIG. 32 shows a pair of rollers 250, 252 (again, for example made ofpolyurethane) for use in an end effector of an embodiment that areprovided with a high electron charge that is maintained by electroncharge distribution brushes 254. The high electron charge makes therollers particularly attractive to certain types of bags such aspolyurethane and polyethylene bags. Optionally, the brushes 254 may beprovided to selectively distribute positive charge to the rollers inorder to attract other types of objects to the rollers. In either event,the object may be released by either discharging (grounding) the rollersand/or mechanically urging the object from the rollers. FIG. 33 shows apair of rollers 260, 262 for use in an end effector of an embodimentthat include an outer surface made of a polyurethane-philic materialsuch as a compatible plastic or by providing a coating of silicone oroxygen-based plasma.

In accordance with further embodiments, and with reference to FIG. 34,the invention provides an end effector 270 for use in connection with aprogrammable motion device 272 such as an articulated arm. Thearticulated arm may include a controller in its base 274, or may becoupled to a controller 276 via wireless communication. As further shownin FIG. 35, the end effector 270 may be attached to an outer section 278of the articulated arm, and may include a set of rollers 280, 282mounted in a frame 284. A control drive mechanism 286 is also providedto actuate one or both of the rollers. As further shown in FIG. 36,(without the mounting hardware for clarity), the rollers 280, 282 may bemounted on tracks 288 for automated movement toward or away from eachother. FIG. 37 shows the end effector 270 coming into contact with a bag290. As shown, the end effector 270 contacts the bag, which may movewhen contacted. The rollers may be formed, for example, of polyurethane.

As shown in FIG. 38, while the end effector 270 is in contact with thebag 290, the rollers 280, 282 may be moved toward each other, and whenthey are moved, a portion 292 of the bag may be gathered between therollers. As shown in FIG. 39, one or both of the rollers is then rotatedto grasp a larger portion 292 of the bag 290 between the rollers. Thebag, as shown grasped in FIG. 39, is then ready for transport. Therollers may be rotated in the opposite direction and/or move away fromeach other to release the object (e.g., the bag).

With reference to FIG. 40, an end effector 300 in accordance with afurther embodiment may include a pair of rollers 302, 304 (again, forexample made of polyurethane), as well as drive mechanisms 306, 308(providing rotation and translation) on both ends of the rollers 302,304. This may provide better power as well as control of roller positionalong the full length of the rollers 302, 304. The embodiment of FIGS.34-39 therefore, may include a pair of drive mechanisms. In variousembodiments disclosed herein, either or both of the rollers may becontrollable with regard to angle, speed and/or torque.

FIG. 41 shows an end effector 310 in accordance with a furtherembodiment of the present invention that includes a pair of rollers 312,314 (again, for example made of polyurethane) that are mounted on shafts316, 318 on the underside of the support frame 320, and are driven(translation and rotation) by motor controllers 322, 324. FIG. 42 showsan underside of the end effector 310. The shafts 316, 318 are attachedto the underside of the frame 320 by way of movable mounts 326, 328 thatare also able to be moved along tracks 330, 332 to provide thetranslational and rotation movement of the rollers 312, 314 as driven bydrive mechanisms 326, 328. The embodiment of FIGS. 41 and 42 providesthat the rollers 312, 314 may be disposed further away from the distalsurface of the frame 320 to facilitate engagement with objects (e.g.,bags). Additionally, the rollers 312, 314 may be smaller in size and notspan the internal distance of the frame 320. The end effector 310 isoperated as discussed above with reference to the embodiments shown inFIGS. 34-40.

FIGS. 43 and 44 show an end effector 340 that is similar to the endeffector 310 of FIGS. 41 and 42 except that the end effector 340includes a roller axle biasing mechanism that includes, for example, twosprings 342, 344, each fastened between a pair of collars 346, 348around axles 316, 318 of the rollers 312, 314. The biasing mechanismurges the two rollers together, although the drive mechanisms 326, 328may also be employed to draw the rollers apart from one another.

FIGS. 45A and 45B show an end effector 350 in accordance with a furtherembodiment of the present invention that includes a pair of rollers 352,354 mounted on separate frames 356, 358, wherein each frame 356, 358 maybe coupled to an arm 360, 362, and the arms 360, 362 may be attached toeither a common (the same) programmable motion device, or may beattached to different programmable motion devices. During use, theprogrammable motion device(s) are employed to gather a portion of a bagbetween the rollers 352, 354 as discussed above.

FIG. 46 shows an embodiment of a system 380 in accordance with a furtherembodiment of the present invention that includes many features commonto the embodiment shown in FIG. 34, except that the end effector 370 andassociated outer section 378 are part of a larger end effector section382 (of a programmable motion device 380) that also includes a secondouter section 384 on which is attached at an opposing end thereof asecond end effector 386 (e.g., a suction based end effector). Duringuse, the programmable motion device 380 may elect to use either the endeffector 370 or the end effector 386 depending on the object to beprocessed.

FIG. 47 shows an embodiment of a system 390 in accordance with a furtherembodiment of the present invention that includes a pair of endeffectors 12 and 386 attached to a common end of a section 388. The endeffector 12 may be as described above with respect to FIGS. 1-7, and theend effector 386 may be as describe above with respect to FIG. 46.Again, during use the programmable motion device 390 may elect to useeither the end effector 12 or the end effector 386 depending on theobject to be processed.

FIGS. 48A and 48B show an end effector 400 in accordance with a furtherembodiment of the present invention that includes a pair of rollers 402,404 (again, for example made of polyurethane) that are fixed onto rollershafts 406, 408. As shown in FIG. 48B, when the roller shafts 406, 408are rotated, the rollers 402, 404 are urged toward each other. Inaccordance with a preferred embodiment, the rollers 402, 404 are fixedto the shafts 406, 408 such that the rollers rotate with the shafts,causing any engaged object bag to become entrained with the rollers 402,404. The rotational movement of the rollers 402, 404 may be provided byactuation mechanisms 410, 412.

FIG. 49A shows portions of an end effector 420 in accordance with afurther embodiment of the present invention that includes a pair ofrollers or spheres 422, 424 (again, for example made of polyurethane)that are attached to rods (in the case of spheres) or plates 426, 428.Upon rotation of drivers 430 and 432, the rods or plates 426, 428 arecaused to be linearly moved up or down. For example, when drivers 430are rotated clockwise and drivers 432 are rotated counter-clockwise (asshown in FIG. 49B), the rods or plates 426, 428 together with the pairof spheres or rollers 422, 424 are linearly moved upward into contactwith one another. When this happens the spheres or rollers 422, 424 maygrasp an object such as a bag between the spheres or rollers 422, 424.

FIG. 50A shows portions of an end effector 440 in accordance with afurther embodiment of the present invention that includes a pair ofrollers or spheres 442, 444 (again, for example made of polyurethane)that are attached to rods (in the case of spheres) or plates 446, 448.Upon rotation of a rotational actuator 450, the rods or plates 446, 448are drawn toward each other together with the spheres or rollers 442,444, and when this happens, the spheres or rollers 442, 444 may grasp anobject such as a bag between the spheres or rollers 442, 444 as shown inFIG. 50B.

FIG. 51A shows portions of an end effector 460 in accordance with afurther embodiment of the present invention that includes a pair ofrollers or spheres 462, 464 (again, for example made of polyurethane)that are attached to rods (in the case of spheres) or plates 466, 468.Upon linear movement of actuators 470, 472, the rods or plates 466, 468are drawn toward each other together with the spheres or rollers 462,464, and when this happens, the spheres or rollers 462, 464 may grasp anobject such as a bag between the spheres or rollers 462, 464 as shown inFIG. 51B.

FIG. 52A shows a portion of an end effector 480 in accordance withanother embodiment of the invention that includes a pair of belts 482,484 for providing a pair of mutually opposing surfaces. The belts 482,484 are provided around drive and follower units 486, 488, and objectsmay be grasped an drawn up between the belts in the area near the units488. As further shown in FIG. 52B, the belts may include very smallcomb-like fingers 490 that become spread apart when the belt is movedaround the units 488 (as shown in FIG. 52C) when grasping an object(such as a bag) to facilitated engagement with the object.

FIG. 53A shows a portion of an end effector 500 in accordance withanother embodiment of the invention that includes a pair of grippers502, 504 that provide a pair of mutually opposing surfaces 506, 508. Thegrippers 502, 504 are attached to two set of bar linkages 510, 512 that,when actuated (as shown in FIG. 53B), cause the grippers to cometogether such that the surfaces 506, 508 come close to or into contactwith one another. When this occurs, the grippers may be used to grasp anobject. In particular, the grippers may be placed onto an object such asa bag in the position as shown in FIG. 53A. When the bar linkages 510,512 are actuated as shown in FIG. 53B, the grippers may grasp the bagand draw up a portion of the bag between the opposing surfaces 506, 508.

FIGS. 54A and 54B show a portion of an end effector 520 in accordancewith another embodiment of the invention that includes a pair of rollers522, 524 (again, for example made of polyurethane). The rollers eachinclude a set of pinion gears 526, 528 that mate with a pair of racks530, 532 (attached to support structure 534, 536 from which the rollers522, 524 are suspended. By use of the rack and pinion gears, the rollers522, 524 may be moved toward and away from each other, and may therebygrasp an object between the rollers 522, 524 as discussed above.

FIGS. 55A and 55B show portions of an end effector 540 that includesrollers 542, 544, each of which includes a pinion gear 546, 548 forengaging rack sections 550, 552 mounted within a frame 564. The rollers542, 544 (again, for example made of polyurethane) are maintained in anurged upward position by spring mechanisms 552, 554. Movement of therollers 542, 544 is controlled by actuation of rotator actuators 560,562 that by way of tension mechanisms 556, 558 that draw the rollers542, 544 up along the rack and pinion (546, 548, 550, 552) mechanisms asshown in FIG. 55B.

FIGS. 56A and 56B show portions of an end effector 570 similar to theend effector 540 of FIGS. 55A and 55B except that the frame 594 isflexible and includes additional spring mechanisms 600, 602 that urgethe frame walls (and the rollers 572, 574 toward each other. The rollers572, 574 each include a pinion gear 576, 578 for engaging rack sections580, 582 mounted within the frame 594. The rollers 572, 574 (again, forexample made of polyurethane) are maintained in an urged upward positionby spring mechanisms 584, 586. Movement of the rollers 572, 574 iscontrolled by actuation of rotator actuators 590, 592 that by way oftension mechanisms 596, 598 that draw the rollers 572, 574 up along therack and pinion (576, 578, 580, 582) mechanisms as shown in FIG. 56B.

Those skilled in the art will appreciate that numerous modification andvariations may be made to the above disclosed embodiments withoutdeparting from the spirit and scope of the present invention.

What is claimed is: 1.-51. (canceled)
 52. A programmable motion deviceincluding an end effector, said programmable motion device including aplurality of articulated arm sections, and said end effector including apair of rollers, at least one of said pair of rollers being actuable torotate with respect to another of said pair of rollers to engage atleast a portion of an object between mutually opposing surfaces of saidpair of rollers.
 53. The programmable motion device as claimed in claim52, wherein said at least one of said pair of rollers is actuatable tomove toward another of the pair of rollers.
 54. The programmable motiondevice as claimed in claim 53, wherein said at least one of said pair ofrollers undergoes linear movement in moving toward the other of the pairof rollers.
 55. The programmable motion device as claimed in claim 53,wherein said at least one of said pair of rollers undergoes angularmovement in moving toward the other of the pair of rollers.
 56. Theprogrammable motion device as claimed in claim 53, wherein said at leastone of said pair of rollers undergoes movement via a bar linkagemechanism in moving toward the other of the pair of rollers.
 57. Theprogrammable motion device as claimed in claim 53, wherein said at leastone of said pair of rollers undergoes movement via a rack and pinionsystem in moving toward the other of the pair of rollers.
 58. Theprogrammable motion device as claimed in claim 52, wherein said pair ofrollers are both actuated to roll with respect to each other.
 59. Theprogrammable motion device as claimed in claim 52, wherein at least oneof said pair of rollers is actuatable to move toward and away withrespect to another of said pair of rollers.
 60. The programmable motiondevice as claimed in claim 59, wherein both of said pair of rollers areactuatable to move toward and away from each other.
 61. The programmablemotion device as claimed in claim 52, wherein each of said pair ofrollers includes surface features for facilitating the grasping ofobjects.
 62. The programmable motion device as claimed in claim 61,wherein said surface features include protrusions on the surfaces of thepair of rollers.
 63. The programmable motion device as claimed in claim61, wherein said surface features include cup-shaped features.
 64. Theprogrammable motion device as claimed in claim 61, wherein said surfacefeatures include apertures through which a vacuum is provided.
 65. Theprogrammable motion device as claimed in claim 52, wherein said pair ofrollers are provided on non-linear axles.
 66. The programmable motiondevice as claimed in claim 52, wherein said pair of rollers are providedwith non-linear surfaces.
 67. The programmable motion device as claimedin claim 52, wherein said pair of rollers are provided with mutuallycomplementary surfaces.
 68. The programmable motion device as claimed inclaim 52, wherein said end effector further includes a vacuum conduitfor providing a vacuum force proximate the pair of rollers.
 69. Theprogrammable motion device as claimed in claim 52, wherein said pair ofrollers are provided with a cam surface.
 70. The programmable motiondevice as claimed in claim 52, wherein said pair or rollers are providedon axles that are not centrally located on the rollers.
 71. Theprogrammable motion device as claimed in claim 52, wherein saidprogrammable motion device further includes a conduit for providing avacuum to an area proximate the pair of rollers of the end effector. 72.A programmable motion device including an end effector, saidprogrammable motion device being adapted to move an object grasped bythe end effector, and said end effector comprising a pair of rollers anda vacuum conduit disposed proximate said pair of rollers, wherein atleast a portion of an object to be grasped is drawn between mutuallyopposing surfaces of said pair of rollers, at least in part, byactuating at least one of said pair of rollers to roll with respect toanother of said pair of rollers and providing a vacuum proximate saidpair of rollers.
 73. The programmable motion device as claimed in claim72, wherein said at least one of said pair of rollers is actuatable tomove toward another of the pair of rollers.
 74. The programmable motiondevice as claimed in claim 73, wherein said at least one of said pair ofrollers undergoes linear movement in moving toward the other of the pairof rollers.
 75. The programmable motion device as claimed in claim 73,wherein said at least one of said pair of rollers undergoes angularmovement in moving toward the other of the pair of rollers.
 76. Theprogrammable motion device as claimed in claim 73, wherein said at leastone of said pair of rollers undergoes movement via a bar linkagemechanism in moving toward the other of the pair of rollers.
 77. Theprogrammable motion device as claimed in claim 73, wherein said at leastone of said pair of rollers undergoes movement via a rack and pinionsystem in moving toward the other of the pair of rollers.
 78. Theprogrammable motion device as claimed in claim 72, wherein said pair ofrollers are both actuated to roll with respect to each other.
 79. Theprogrammable motion device as claimed in claim 72, wherein at least oneof said pair of rollers is actuatable to move toward and away withrespect to another of said pair of rollers.
 80. The programmable motiondevice as claimed in claim 79, wherein both of said pair of rollers areactuatable to move toward and away from each other.
 81. The programmablemotion device as claimed in claim 72, wherein each of said pair ofrollers includes surface features for facilitating the grasping ofobjects.
 82. The programmable motion device as claimed in claim 81,wherein said surface features include protrusions on the surfaces of thepair of rollers.
 83. The programmable motion device as claimed in claim81, wherein said surface features include cup-shaped features.
 84. Theprogrammable motion device as claimed in claim 81, wherein said surfacefeatures include apertures through which a vacuum is provided.
 85. Theprogrammable motion device as claimed in claim 72, wherein said pair ofrollers are provided on non-linear axles.
 86. The programmable motiondevice as claimed in claim 72, wherein said pair of rollers are providedwith non-linear surfaces.
 87. The programmable motion device as claimedin claim 72, wherein said pair of rollers are provided with mutuallycomplementary surfaces.
 88. The programmable motion device as claimed inclaim 72, wherein said end effector further includes a vacuum conduitfor providing a vacuum force proximate the pair of rollers.
 89. Theprogrammable motion device as claimed in claim 72, wherein said pair ofrollers are provided with a cam surface.
 90. The programmable motiondevice as claimed in claim 72, wherein said pair or rollers are providedon axles that are not centrally located on the rollers.
 91. A method ofgrasping an object using an end effector of a programmable motiondevice, comprising: engaging the object with a pair of rollers of theend effector mounted to an end effector support structure; actuating atleast one of said pair of rollers to rotate with respect to another ofsaid pair of rollers; and drawing at least a portion of the objectbetween mutually opposing surfaces of said pair of rollers.
 92. Themethod as claimed in claim 91, further comprising: actuating said atleast one of said pair of rollers to move toward another of the pair ofrollers.
 93. The method as claimed in claim 92, wherein said at leastone of said pair of rollers undergoes linear movement in moving towardthe other of the pair of rollers.
 94. The method as claimed in claim 92,wherein said at least one of said pair of rollers undergoes angularmovement in moving toward the other of the pair of rollers.
 95. Themethod as claimed in claim 92, wherein said at least one of said pair ofrollers undergoes movement via a bar linkage mechanism in moving towardthe other of the pair of rollers.
 96. The method as claimed in claim 92,wherein said at least one of said pair of rollers undergoes movement viaa rack and pinion system in moving toward the other of the pair ofrollers.
 97. The method as claimed in claim 91, wherein said pair ofrollers undergoes movement via a rack and pinion system in moving towardthe other of the pair of rollers.
 98. The method as claimed in claim 91,wherein said pair of rollers are both actuated to roll with respect toeach other.
 99. The method as claimed in claim 91, wherein at least oneof said pair of rollers is actuatable to move toward and away withrespect to another of said pair of rollers.
 100. The method as claimedin claim 99, wherein both of said pair of rollers are actuatable to movetoward and away from each other.
 101. The method as claimed in claim 91,wherein each of said pair of rollers includes surface features forgrasping of objects.
 102. The method as claimed in claim 101, whereinsaid surface features include protrusions on the surfaces of the pair ofrollers.
 103. The method as claimed in claim 101, wherein said surfacefeatures include cup-shaped features.
 104. The method as claimed inclaim 101, wherein said surface features include apertures through whicha vacuum is provided.
 105. The method as claimed in claim 91, whereinsaid pair of rollers are provided on non-linear axles.
 106. The methodas claimed in claim 91, wherein said pair of rollers are provided withnon-linear surfaces.
 107. The method as claimed in claim 91, whereinsaid pair of rollers are provided with mutually complimentary surfaces.108. The method as claimed in claim 91, wherein said pair of rollers areprovided with a cam surface.
 109. The method as claimed in claim 91,wherein said pair of rollers are provided on axles that are notcentrally located on the rollers.
 110. The method as claimed in claim91, further comprising providing a vacuum force proximate the pair ofrollers through a vacuum conduit included in said end effector.